Vector-field guided constraint-following control for path following of uncertain mechanical systems
This addresses path-following control for mechanical systems with uncertainties, but appears incremental as it builds on existing constraint-following methods.
The paper tackled the problem of geometric path-following for uncertain mechanical systems by proposing a vector-field guided constraint-following control approach, which was demonstrated effective through simulations.
This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it operates at the dynamics level and can handle both fully-actuated and underactuated mechanical systems, heterogeneous (possibly fast) time-varying uncertainties with unknown bounds, and geometric desired paths that may be self-intersecting. Simulations are conducted to demonstrate the effectiveness of the approach.